JPH02241423A - Self-running cleaner - Google Patents

Abstract

PURPOSE:To enable automatic following of a self-running cleaner to a body suction hose at the time of manual cleaning by inputting the output signal of a suction hose detecting means to a sub-processor for controlling the movement of the body by the instruction of a main processor determining a moving route. CONSTITUTION:During the running of a body 1, a main processor 40 determines the moving route while receiving the obstruction data by a sub-processor 42 and outputs the moving instruction to sub-processors 43, 44. Then, the sub- processor 43 drive controls a running motor 18 to repeat advance, stop and retreat, and the sub-processor 44 drive-controls a steering motor 23 to change the running direction. In carrying out On/OFF of an electric air blower 2 by a switch in hand, a hose tension detection sensor 33 is operated when a suction hose 9 is pulled, and the sub-processor 43 drives the running motor 18 to run the body 1 by a fixed distance. Simultaneously, the sub-processor 44 detects the delivery direction of the suction hose 9 by a hose direction detection sensor 32 and drive-controls the steering motor 23 to make the running direction regularly coincide with the delivering direction of the suction hose 9.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a self-propelled vacuum cleaner that is equipped with a cleaning function and a moving function and that performs cleaning automatically.

2. Description of the Related Art Conventionally, vacuum cleaners have been developed in which a moving function is added to the vacuum cleaner to improve operability during cleaning. Particularly recently, so-called self-propelled self-propelled vacuum cleaners, which are equipped with microcomputers and various sensors, have been developed.

This type of self-propelled vacuum cleaner is equipped with a suction nozzle, brush, etc. at the bottom of the main body for the cleaning function, and has running wheels and steering wheels driven by a motor for the movement function, and position recognition that recognizes the position of the main body. The device moves to cover the inside of the cleaning area using the means and the obstacle detection means for detecting obstacles during travel, thereby cleaning the entire cleaning area.

Problems to be Solved by the Invention Such conventional self-propelled vacuum cleaners have had the following problems.

East, 1. With conventional self-propelled vacuum cleaners, it is impossible to clean passages narrower than the width of the main unit, gaps between furniture, etc., and in order to clean such uncleaned areas, a regular vacuum cleaner equipped with a suction hose is required. Requires a separate machine.

2. Since there are many signals input to the judgment processing means from the obstacle detection means, position recognition means, etc., there may be a delay in the process of stopping the main body even when a step on the floor such as a staircase is detected.

3. Depending on cleaning conditions such as the material of the floor or how dirty it is, it may be necessary to change the cleaning section, or optimum cleaning may not be possible, resulting in unnecessary power consumption and noise generation.

4. The shape of the main body is large compared to the cleaning width, making it difficult to handle. There was a problem.

Therefore, the first object of the present invention is to realize a self-propelled vacuum cleaner that has both automatic cleaning function and manual cleaning function in one vacuum cleaner, and in which the main body automatically follows the suction hose during manual cleaning. There is.

The second purpose is to provide a safer self-propelled vacuum cleaner that can immediately stop the main body if it detects a level difference in the floor surface.

A third object is to provide a self-propelled vacuum cleaner that does not require switching of cleaning sections depending on cleaning conditions, and that does not consume unnecessary power or generate noise.

The fourth objective is to realize a self-propelled vacuum cleaner with a compact main body.

Means for Solving the Problems In order to achieve the first object, the self-propelled vacuum cleaner of the present invention includes a cleaning means, a traveling means and a steering means, a judgment processing means, and a suction hose led out from the main body. and a suction hose detection means for detecting the state of the suction hose, and the judgment processing means includes a main processor that determines the moving route of the main body, and a main processor that determines the movement path of the main body, forward movement, backward movement, stoppage, and direction change of the main body based on instructions from the main processor. The first means includes a movement control sub-processor for controlling the movement control sub-processor, and the output signal of the suction hose detection means is input to the movement control sub-processor.

In addition, in order to achieve the second objective, the main body includes a cleaning means, a traveling means and a steering means, a judgment processing means, and a step detection means on the floor, and the judgment processing means determines the moving route of the main body. It has a main processor for controlling movement, and a subprocessor for movement control that controls the forward movement, backward movement, stopping, and change of direction of the main body according to commands from the main processor. The second means is that the information has been input.

In addition, in order to achieve the third objective, the main body includes a cleaning means, a traveling means and a steering means, a judgment processing means, and a cleaning condition detection means for detecting cleaning conditions, and the judgment processing means is a cleaning means for detecting cleaning conditions. A main processor that determines start and end, and an electric blower as a cleaning means based on instructions from the main processor? The third means includes a sub-processor for cleaning control that controls the gitator, and an output signal of a cleaning condition detection means for detecting cleaning conditions is input to the sub-processor for cleaning control.

In addition, in order to achieve the fourth object, the bottom surface of the main body has a substantially circular shape, a floor nozzle provided at the diameter part of the bottom of the main body, and a traveling drive section having a drive wheel provided in front of the floor nozzle; The fourth method includes a following wheel provided at the rear of the floor nozzle, a control circuit consisting of a signal circuit section and a drive circuit section, and a power source, and the control circuit is separated into two and distributed to the left and right sides of the main body.
It is used as a means of

The self-propelled vacuum cleaner according to the first means of operation can be manually cleaned using a suction hose, and when the user pulls the suction hose, the suction hose detection means detects the state of the suction hose and activates the sub-system for movement control. Sends a signal to the processor and moves the main body to follow the suction hose.

According to the second means, since the output signal of the step detection means is directly input to the sub-processor for movement control, movement of the main body is immediately stopped regardless of the state of the main processor. According to the third means, since the output signal of the cleaning condition detection means for detecting the cleaning conditions is inputted to the cleaning control sub-processor, the electric blower or agitator is automatically activated regardless of the operation of the main processor. Can be controlled.

According to the fourth means, the width of the main body and the cleaning width are almost the same, and the height of the main body can be configured to be low.

EXAMPLE Hereinafter, an example of the present invention will be described based on the accompanying drawings. 1 to 3 show the overall configuration of a self-propelled vacuum cleaner according to the present invention. The interior of the main body 1 of the self-propelled vacuum cleaner, which has a substantially circular bottom shape, includes an electric blower 2, a dust collection chamber 3, and a filter 4 provided inside the dust collection chamber 3. In addition to this section, the following are provided. Reference numeral 5 denotes a floor nozzle provided at the diameter of the bottom of the main body 1, and is equipped with an agitator 7 consisting of a rotating brush driven by a drive motor 6. Reference numeral 8 denotes a hose mounting base, on which a suction hose 9 can be detachably attached to the upper part of the main body 1, as shown in FIG. 1
0 is an air passage switching device that switches the suction side of the electric blower 2 to either the floor nozzle 5 side or the suction hose 9 side, and a floor nozzle connecting vibe 11 is attached below 5, and its tip is connected to the floor nozzle 5. A suction port connecting vibrator 12 is attached above and connected to the suction port 9 via a hose mount 8.

A mount cover 13 covers the hose mount 8 from the outside, is made of a flexible material, is slidably attached to the outer wall of the main body 1, and can be opened and closed. The air passage switching device 10 is interlocked with the mount cover 13, and when the mount cover 13 is closed, the suction side of the electric blower 2 is on the side of the floor nozzle 5. Slide the knob 14 provided on the top of the mount cover 13 by hand in the direction of arrow A to open it (and the suction side switches to the suction hose 5 side. 15 and 16 are the front side of the floor nozzle 5 The running wheel is attached to the running drive unit 17 provided at The traveling drive unit 17 is driven by a steering motor 23 via a steering shaft 21 and a steering speed reducer 22 attached to the traveling drive unit 17, thereby rotating left and right to change the traveling direction. 23 constitutes a traveling means and a steering means. 24 is a traveling encoder consisting of a rotary encoder that detects the rotational speed of the traveling motor 18, and 25 is a steering encoder also consisting of a rotary encoder and detecting the rotational speed of the steering motor 23. 26 is a direction detection sensor that detects the direction of the main body 1, and in this embodiment, a rate gyro is used. The position recognition means is configured to recognize the position by detecting the traveling distance and traveling direction of the main body 1 from the main body 1.27.2
Reference numeral 8 denotes a distance measuring sensor consisting of an ultrasonic sensor provided around the main body 1, which measures the distance to an obstacle. Reference numeral 29 denotes a bumper attached to the outer periphery of the main body 1, which is equipped with a contact sensor inside to detect contact with an obstacle. Distance sensor 27.
28 and the contact sensor 29 constitute obstacle detection means. Reference numeral 30 denotes a floor sensor consisting of an ultrasonic sensor installed in front of the travel drive unit 17, and the floor sensor 30 detects the nature of the floor surface, which is a carpet, depending on the state of reflection of ultrasonic waves on the floor surface. and detect whether there are steps on the floor. That is, this floor sensor 30 serves both as a step detection means and as a floor discrimination means. 31 is the floor nozzle connection vibe 11
A dust passing sensor consisting of a photointerrupter attached to the floor nozzle connecting vibrator 11 detects the amount of dust passing through the inside of the floor nozzle connecting vibrator 11. The floor surface discrimination means of the floor surface sensor 30 and the dust passage sensor 31 constitute a cleaning condition detection means. Reference numeral 32 denotes a port direction detection sensor for detecting the direction in which the suction hose 9 is led out from the main body 1, and in this embodiment, a potentiometer is used. Reference numeral 33 denotes a hose tension detection sensor that detects when the suction hose 9 is pulled, and detects displacement of the hose mounting base 8 using a switch. The hose direction detection sensor 32 and the hose tension detection sensor 33 constitute a suction hose detection means. 34 is a state detection switch provided on the air passage switching device, and is connected to the mounting base cover 1.
Detects the open/closed state of 3. Reference numeral 35 denotes a control circuit that performs overall control, and a signal circuit section and a drive circuit section are separated and placed on the left and right sides of the main body 1. Reference numeral 36 denotes a power source consisting of two storage batteries, etc., which is arranged above the traveling drive section 17 to minimize slipping of the traveling wheels 15 and 16 by weight balance. Reference numeral 37 denotes an operation section, which includes an operation switch 38 and an indicator 39 such as an indicator lamp or a buzzer.

According to the overall configuration as described above, the floor nostle 5 is provided at the bottom diameter part of the main body 1 whose bottom surface shape is approximately circular.
The width of the main body and the cleaning width are almost the same, and the drive wheel 15.16 is provided in front of the floor nozzle 5, and the follower wheel 19.20 is provided behind the nozzle 5, so even when the direction of the main body 1 is changed, even the corners can be cleaned. Since the control circuit 35 is distributed and arranged in the left and right spaces outside the drive section, cleaning section, and power supply section,
There is no dead space, and the height of the main body 1 is low and compact. Furthermore, since the signal circuit section and the drive circuit section are arranged separately in the control circuit, noise generated from the drive circuit section is less likely to affect the signal circuit section.

FIG. 4 is a system block diagram of this embodiment. It shows the input and output of signals to and from the main processor 40, which is a microcomputer and constitutes the judgment processing means. 41
-44 are sub-processors consisting of one-chip microcomputers, and are connected to the main processor 40 via a path line 45. 41 is a sub-processor for cleaning control, which processes inputs from the floor sensor 30, dust passage sensor 31, state detection switch 34, and operation switch 38 of the operation unit 37, and a drive circuit connected to the electric blower 2 and drive motor 6. 46 and the operation section 37 to the display 39. 42 is a sub-processor for detecting obstacles;
Distance sensors 27, 28, bumper 29 and amplifier 47
are connected via. 43 is a sub-processor for controlling the traveling motor, and is connected to a motor control circuit 48 that connects the traveling motor 18 and the traveling encoder 24, the floor sensor 30, and the hose tensile force detection sensor 33. 44 is a sub-processor for controlling the steering motor, and is connected to a motor control circuit 49 that connects the steering motor 23 and the steering encoder 25, and a hose direction detection sensor 32. The sub-processor 43 for controlling the travel motor and the sub-processor 44 for controlling the steering motor become sub-processors for movement control. In addition, the pass line 45 of the main processor 40
An integrator 51 of the direction detection sensor 26, a storage device 52 for storing programs and data, and a timer 53 for measuring time are connected to the input port 50.

When using the self-propelled vacuum cleaner configured as described above to clean a room surrounded by walls on all sides, the main body 1 with the suction hose 9 removed is placed along the wall and the operation switch 38 is operated. In this state, the mount cover 13 is closed, so the suction side of the electric blower 2 is switched to the floor nozzle 5 side by the air passage switching device 1t10. When the operation switch 38 is operated, the main processor 40 issues a cleaning start command to the cleaning control sub-processor 41, and simultaneously issues a movement command to the travel motor control sub-processor 43 and the steering motor control sub-processor 44. Then, the electric blower 2 is activated, the traveling motor 18 is driven, and the main body 1 starts traveling. While driving, the main processor 40 determines the travel route while receiving obstacle data based on detection signals from the distance sensors 27, 28 and the bumper 29 from the obstacle detection sub-processor 42, and determines the travel route. A movement command is issued to the sub-processor 43 and the sub-processor 44 for steering motor control. The travel motor control sub-processor 43 and the steering motor control sub-processor 44 that have received and received the movement command drive and control the travel motor 18 to repeatedly move forward, stop, and retreat, thereby driving and controlling the steering motor 23. By doing so, the running direction is changed, and the main body 1 cleans the floor surface while moving along the surrounding walls of the room while avoiding obstacles. Furthermore, if a step such as a staircase appears on the floor in front while the main body 1 is moving, the sub-processor 43 for controlling the travel motor receives the step detection signal from the floor sensor 30 and immediately stops the travel motor 18. After this, the main processor 40 is notified of this, and a new movement command is received to avoid the step. During such traveling, the movement trajectory is recognized by the position recognition means described above, and this is stored in the storage device 52.

When it completes going around the room, it is detected by the position recognition means, and the inside of this movement trajectory is determined to be the cleaning area, and the entire cleaning area is automatically cleaned by running within this cleaning area while avoiding obstacles. During this automatic cleaning, the dust i sucked from the floor nozzle 5 is detected by the dust passage sensor 31, and the cleaning control sub-processor 41 increases the suction force of the electric blower 2 if the amount of dust sucked is small. make it smaller,
If the amount is higher, the suction force is controlled to be larger, so that the cleaning ability is not reduced (useless consumption of the power source 36 is prevented, and noise during suction is also minimized.

In addition, the cleaning control sub-processor 41 inputs the floor surface discrimination signal from the floor sensor 30, and if the floor surface is a carpet, controls the drive motor 6 to rotate the agitator 7.
If it is a bare floor, stop the rotation. therefore,
Continuous cleaning is possible even in areas where different flooring materials are combined.

In this way, the main processor 40 only issues commands to start and end cleaning, and the nub processor 41 for cleaning control
is the floor surface discrimination means of the floor surface sensor 30 and the dust passage sensor 31
Since the drive motor 6 of the electric blower 2 or the °r gitator 7 is controlled by the output signal from the cleaning condition detection means consisting of the main processor 40, there is no possibility that the main processor 40 will overlook obstacle data or delay issuing a command.

In addition, when cleaning parts that cannot be cleaned by automatic cleaning, such as gaps between furniture or the top of a desk, a suction hose 9 is attached to the main body 1.

When the mount cover 13 is opened, the air passage switching device 10 switches the suction side of the electric blower 2 to the suction hose 9 side, allowing cleaning with the suction hose 9. A hand switch (not shown) provided on the suction hose 9 turns the electric blower 2 on and off, allowing manual cleaning in the same way as a normal vacuum cleaner. At this time, when the suction hose 9 is pulled, the hose tensile force detection sensor 33 is activated, and the sub-prosset 143 for controlling the travel motor drives the travel motor 18 to cause the main body 1 to travel a certain distance.

At the same time, the sub-processor 44 for controlling the steering motor detects the direction in which the suction hose 9 is led out using the hose direction detection sensor 32, and drives and controls the steering motor 23 so that the running direction always matches the direction in which the suction hose 9 is led out. In this manner, during manual cleaning, the sub-processor 43 for movement control, that is, the sub-processor 43 for controlling the travel motor, and the sub-processor 44 for controlling the steering motor are connected to the suction hose detection means, that is, the hose tension detection sensor 33 and the hose direction detection sensor. Since 32 signals can be directly input, rapid processing is possible, the main processor 40 can be followed without any delay, and there is no burden on the main processor 40.

In addition, when there is an obstacle in the way of traveling, the distance measuring sensor 27,
28 or bumper 29 detects this and stops. Therefore, if the suction hose 9 is used, the main body 1 always moves following the user, so although the main body 1 weighs more than a normal vacuum cleaner, the operating force required for its movement is very small.

To teach the cleaning area when automatically cleaning a room that is not surrounded by walls or any other place, attach the suction hose 9 to the main body 1, switch to the manual cleaning mode mentioned above, and operate the operation switch 38. to switch to teaching mode. In this mode, the apparent operation is exactly the same as manual cleaning, but the movement trajectory of the main body 1 in the direction of the suction hose 9 is recognized by the position recognition means, and the storage device 5
I will remember it in 2. When the teaching is finished, the suction hose 9 is removed from the main body 1, and the operation switch 38 is operated to restart the operation. If the taught movement trajectory is a closed loop, this is determined to be the cleaning area, and the robot travels throughout the cleaning area while avoiding obstacles to clean the entire cleaning area. In addition, if the taught movement trajectory is not a closed loop, that is, if the boundary line is taught to clean only half of the room, after restarting, the movement path will move along the wall,
When the movement trajectory becomes a closed loop, the movement trajectory is determined to be a cleaning area, and the entire cleaning area is cleaned in the same manner as above.

Effects of the Invention As described above, the self-propelled vacuum cleaner of the present invention can be manually cleaned using the suction hose, and when the user pulls the suction hose, the suction hose detection means detects the state of the suction hose and moves. Since a signal is sent to the control sub-processor and the main unit moves following the suction hose, it has both automatic and manual cleaning functions in one vacuum cleaner, making it an extremely versatile self-propelled vacuum cleaner. It can be realized.

In addition, since the output signal of the level difference detection means is directly input to the sub-processor for movement control, the movement of the main body is immediately stopped regardless of the state of the main processor, so if a level difference on the floor is detected, the main body is immediately stopped. You get a safer self-propelled vacuum cleaner that can be stopped.

In addition, since the output signal of the cleaning condition detection means for detecting cleaning conditions is input to the cleaning control sub-processor,
To provide a self-propelled vacuum cleaner that eliminates the need to switch cleaning parts depending on cleaning conditions and eliminates unnecessary power consumption and noise generation, since an electric blower or agitator can be automatically controlled regardless of the operation of a main processor. I can do it.

Furthermore, since the width of the main body and the cleaning width are almost the same, and the height of the main body can be made low, it is possible to realize a self-propelled vacuum cleaner that is very compact in shape and easy to handle.

[Brief explanation of drawings]

Fig. 1 is a horizontal sectional view of a self-propelled vacuum cleaner showing an embodiment of the present invention, Fig. 2 is a collapsed sectional view of the self-propelled vacuum cleaner, and Fig. 3 is an external view of the self-propelled vacuum cleaner. FIG. 4 is a system block diagram of the self-propelled vacuum cleaner. 1... Main body, 2... Electric blower, 3... Dust collection chamber,
4... Filter, 5... Floor nozzle, 9... Suction hose, 15.16... Traveling wheel, 17... Traveling drive unit, 18... Traveling motor, 19.20... Follower wheel, 2
3... Steering motor, 30... Floor sensor, 31...
- Dust passage sensor, 32... hose direction detection sensor,
33... Hose tensile force detection sensor, 35... Control circuit, 36... Power supply, 4O... Main processor, 4
1... Sub-processor for cleaning control, 43... Sub-processor for driving motor control, 44... Sub-processor for steering motor control. Name of agent: Patent attorney Shigetaka Awano and 1 other person!・−′$
, body 2- admonition wind resistance 3-s yang ヱ15- Shiba-gyo-rin

Claims (4)

[Claims] (1) The main body includes a cleaning means, a traveling means and a steering means, a judgment processing means, a suction hose led out from the main body, and a suction hose detection means for detecting the state of the suction hose, and the judgment processing means is provided in the main body. It has a main processor that determines the movement route of the main processor, and a sub-processor for movement control that controls the movement forward, backward, stop, and change of direction of the main body according to commands from the main processor, and the output signal of the suction hose detection means is used for movement control. A self-propelled vacuum cleaner that is input to the sub-processor of. (2) The main body includes a cleaning means, a traveling means and a steering means, a judgment processing means, and a floor level difference detection means, and the judgment processing means includes a main processor that determines the moving route of the main body, and a main processor that determines the movement route of the main body. The main body moves forward and backward according to commands,
A self-propelled vacuum cleaner comprising a movement control sub-processor that controls stopping and direction change, and an output signal of a step detection means is input to the movement control sub-processor. (3) The main body includes a cleaning means, a traveling means and a steering means, a judgment processing means, and a cleaning condition detection means for detecting cleaning conditions, and the judgment processing means is a main processor that determines the start and end of cleaning. , a self-propelled cleaner having a cleaning control sub-processor that controls the electric blower or agitator of the cleaning means according to instructions from the main processor, and an output signal from the cleaning condition detection means being input to the cleaning control sub-processor. Machine. (4) The bottom surface of the main body has a substantially circular shape, and includes a floor nozzle provided on the diameter of the bottom of the main body, a traveling drive section having a drive wheel provided in front of the floor nozzle, and a follower wheel provided at the rear of the floor nozzle. A self-propelled vacuum cleaner comprising: a control circuit consisting of a signal circuit section and a drive circuit section; and a power source; the control circuit is separated into two parts and distributed to the left and right sides of the main body.